/*
 * Copyright (c) 2011-2025, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/main/LICENSE
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 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
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 *     disclaimer in the documentation and/or other materials provided
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 */

#include "dart8/frame/free_frame.hpp"

#include "dart8/common/exceptions.hpp"
#include "dart8/comps/all.hpp"
#include "dart8/world.hpp"

namespace dart8 {

//==============================================================================
FreeFrame::FreeFrame(entt::entity entity, World* world)
  : Frame(entity, world),
    EntityObjectWith<
        TagComps<comps::FreeFrameTag>,
        ReadOnlyComps<>,
        WriteOnlyComps<>,
        ReadWriteComps<comps::FreeFrameProperties>>()
{
  // Validate entity has FreeFrameProperties
#ifndef NDEBUG
  auto& registry = world->getRegistry();
  DART8_THROW_T_IF(
      !registry.all_of<comps::FreeFrameProperties>(entity),
      InvalidArgumentException,
      "Entity does not have FreeFrameProperties component");
#endif
}

//==============================================================================
void FreeFrame::setLocalTransform(const Eigen::Isometry3d& transform)
{
  auto& registry = m_world->getRegistry();
  auto& props = registry.get<comps::FreeFrameProperties>(m_entity);
  props.localTransform = transform;

  // Invalidate cache
  auto& cache = registry.get<comps::FrameCache>(m_entity);
  cache.needTransformUpdate = true;
}

//==============================================================================
const Eigen::Isometry3d& FreeFrame::getLocalTransform() const
{
  const auto& props
      = m_world->getRegistry().get<comps::FreeFrameProperties>(m_entity);
  return props.localTransform;
}

} // namespace dart8
